config.yaml

dataset:
  to_name: gberseth/libero-data-no-noops-64px
  num_episodes: 0
  chunk_size: 100
  buffer_size: 50000
  encode_with_t5: false
  t5_version: t5-small
  chars_list:
  - ' '
  - ','
  - .
  - '0'
  - '1'
  - '2'
  - '3'
  - '4'
  - '5'
  - '6'
  - '7'
  - '8'
  - '9'
  - '!'
  - '?'
  - '"'
  - ''''
  - (
  - )
  - '-'
  - _
  - ':'
  - ;
  - '@'
  - '#'
  - $
  - '%'
  - '&'
  - '*'
  - +
  - '='
  - <
  - '>'
  - /
  - \\
  - '|'
  - '~'
  - '`'
  - A
  - B
  - C
  - D
  - E
  - F
  - G
  - H
  - I
  - J
  - K
  - L
  - M
  - 'N'
  - O
  - P
  - Q
  - R
  - S
  - T
  - U
  - V
  - W
  - X
  - 'Y'
  - Z
  - a
  - b
  - c
  - d
  - e
  - f
  - g
  - h
  - i
  - j
  - k
  - l
  - m
  - 'n'
  - o
  - p
  - q
  - r
  - s
  - t
  - u
  - v
  - w
  - x
  - 'y'
  - z
  load_dataset: true
  download_all: false
  save_initial_dataset: false
  use_generator: false
  dataset_indicies:
    /network/projects/real-g-grp/modified_libero_rlds/libero_90_no_noops/1.0.0:
      start: 0
      size: 1000000
      weight: 1.0
      dataset_key: libero_dataset_transform
  action_std:
  - 0.3124798834323883
  - 0.37134110927581787
  - 0.4139348864555359
  - 0.04684387892484665
  - 0.06005333364009857
  - 0.08120378851890564
  - 0.4986436367034912
  action_mean:
  - 0.044201772660017014
  - 0.03035518154501915
  - -0.10015746206045151
  - 0.005030587315559387
  - 0.002572480821982026
  - -0.005025846417993307
  - 0.536292552947998
  action_scaling: 0.5,
  state_mean:
  - -0.0011230926513074045
  - -0.0002634865379064686
  - 0.0006436482461208708
  - 0.00027720820152258874
  - -0.0005974869737108643
  - 0.00018720179682490902
  - 0.625765860080719
  state_std:
  - 0.012801983393728733
  - 0.019161013886332512
  - 0.016479915007948875
  - 0.00027720820152258874
  - -0.0005974869737108643
  - 0.00018720179682490902
  - 0.625765860080719
experiment:
  name: mini_grp
  project: mini-grp
  description: simple env with 64pix images and pose data
model:
  type: transformer
batch_size: 256
max_block_size: 16
vocab_size: 32
n_patches: 8
patch_size: 8
max_iters: 250000
eval_interval: 100
learning_rate: 0.0003
lr_schedule: linear
eval_iters: 5
policy:
  action_stacking: 1
  obs_stacking: 1
  use_image_augmentations: false
  dtype: float32
  use_pose_data: 1
  random_masking_enabled: false
testing: false
eval_vid_iters: 250000
gradient_accumulation_steps: 1
simEval:
- libero
sim:
  eval_episodes: 1
  eval_tasks:
  - 0
  - 1
  - 2
  - 3
  episode length: 500
r_seed: 1337
device: cuda
n_embd: 512
n_head: 16
n_blocks: 4
dropout: 0.2
action_dim: 7
load_action_bounds: true
image_shape:
- 64
- 64
- 3
data_shuffel_interval: 1000
profiler:
  enable: false
  params:
    profile_memory: true
    with_stack: true
    use_cuda: true